CN113440376A - 一种具有变刚度功能的人体上肢康复训练装置 - Google Patents
一种具有变刚度功能的人体上肢康复训练装置 Download PDFInfo
- Publication number
- CN113440376A CN113440376A CN202110798743.8A CN202110798743A CN113440376A CN 113440376 A CN113440376 A CN 113440376A CN 202110798743 A CN202110798743 A CN 202110798743A CN 113440376 A CN113440376 A CN 113440376A
- Authority
- CN
- China
- Prior art keywords
- joint
- frame
- output
- rehabilitation training
- training device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 58
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 51
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 43
- 206010023230 Joint stiffness Diseases 0.000 claims abstract description 20
- 210000003414 extremity Anatomy 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000002390 adhesive tape Substances 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 7
- 210000000245 forearm Anatomy 0.000 claims 2
- 230000009471 action Effects 0.000 abstract description 10
- 210000001503 joint Anatomy 0.000 abstract description 7
- 230000006378 damage Effects 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 35
- 230000000875 corresponding effect Effects 0.000 description 21
- 230000006870 function Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 11
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000004064 dysfunction Effects 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000004220 muscle function Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110798743.8A CN113440376A (zh) | 2021-07-15 | 2021-07-15 | 一种具有变刚度功能的人体上肢康复训练装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110798743.8A CN113440376A (zh) | 2021-07-15 | 2021-07-15 | 一种具有变刚度功能的人体上肢康复训练装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN113440376A true CN113440376A (zh) | 2021-09-28 |
Family
ID=77816303
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110798743.8A Pending CN113440376A (zh) | 2021-07-15 | 2021-07-15 | 一种具有变刚度功能的人体上肢康复训练装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113440376A (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114931456A (zh) * | 2022-05-13 | 2022-08-23 | 哈尔滨工业大学 | 一种可用于假肢人机物理界面的变刚度单元及其调节方法 |
WO2023065872A1 (zh) * | 2021-10-22 | 2023-04-27 | 华为技术有限公司 | 柔性变刚度驱动器以及虚拟现实交互设备 |
-
2021
- 2021-07-15 CN CN202110798743.8A patent/CN113440376A/zh active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023065872A1 (zh) * | 2021-10-22 | 2023-04-27 | 华为技术有限公司 | 柔性变刚度驱动器以及虚拟现实交互设备 |
CN114931456A (zh) * | 2022-05-13 | 2022-08-23 | 哈尔滨工业大学 | 一种可用于假肢人机物理界面的变刚度单元及其调节方法 |
CN114931456B (zh) * | 2022-05-13 | 2024-04-12 | 哈尔滨工业大学 | 一种可用于假肢人机物理界面的变刚度单元及其调节方法 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110051501B (zh) | 一种桌面式的上肢康复机器人及其使用方法 | |
TWI600421B (zh) | 肩關節復健輔具 | |
CN113440376A (zh) | 一种具有变刚度功能的人体上肢康复训练装置 | |
CN113576828B (zh) | 一种可调节训练拉力的上肢康复训练装置 | |
CN110960395B (zh) | 一种外骨骼式上肢康复机器人 | |
CN108972515B (zh) | 一种仿生运动功能上肢 | |
CN108478391B (zh) | 一种可穿戴式外骨骼康复机械手 | |
CN107496135B (zh) | 一种阻力位置可调节的四肢康复训练器 | |
CN109078302B (zh) | 一种上肢主动式多关节力量训练仪 | |
CN112891142B (zh) | 一种基于腰部锻炼的运动康复器械 | |
CN108836740B (zh) | 一种多位姿肢体协调康复训练机器人 | |
CN110037892A (zh) | 形状记忆合金绳索驱动的上肢康复训练装置及方法 | |
CN110269782A (zh) | 一种具有回弹功能的膝关节康复训练装置 | |
CN111616921A (zh) | 连杆往复机构驱动腕部训练装置 | |
CN110613584B (zh) | 一种柔性下肢康复训练机构 | |
CN111096869A (zh) | 一种刚柔耦合绳驱外骨骼式上肢康复训练机器人 | |
CN112842736A (zh) | 一种膝关节扭伤康复训练装置 | |
CN116270133A (zh) | 一种仿真康复手指训练装置及其控制系统 | |
CN209392331U (zh) | 一种手功能康复训练机器人 | |
CN212282096U (zh) | 一种刚柔耦合绳驱外骨骼式上肢康复训练机器人 | |
CN209005140U (zh) | 一种伞式折叠旋转式上肢训练装置 | |
CN210521233U (zh) | 下肢康复轮椅 | |
CN109953868B (zh) | 一种腕部扭摆助力康复装置 | |
CN213077384U (zh) | 手腕关节康复训练装置的握持机构距离自适应调节装置 | |
CN109394478A (zh) | 一种手功能康复训练机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Daoming Inventor after: Dong Cheng Inventor after: Tan Gangchuan Inventor after: Qian Sen Inventor after: Wang Zhengyu Inventor after: Shi Fengfei Inventor before: Wang Daoming Inventor before: Dong Cheng Inventor before: Qian Sen Inventor before: Wang Zhengyu Inventor before: Shi Fengfei |